组合导航系统故障检测方法研究

针对传统的多导航源组合导航系统难以有效解决系统故障检测的问题，通过对卡尔曼滤波器中的残差进行分析，提出了一种新的故障检测方案，该方案有效利用了残差x2检测优点，可实时检测出系统故障。仿真结果表明，该方案故障检测率高，计算量小，整体算法实现简便。本方案已应用于实际工程中。

FauIt Detection Method Research for Integrated Navigation System

Aimed at the problem that traditional integrated navigation system can’t resolve fault detection effectively,a new fault detection scheme is proposed by analyzing the residual error of Kal-man filter.Taking the advantage of residual chi-square detection,the scheme can detect system fault promptly.Simulation result demonstrates that this scheme can be applied to fault detection of inte-grated navigation system with high detected probability and low computational cost.The arithmetic has been used in practical proj ect and can be implemented easily.